Apparatus and method for haptic rendering

Abstract

In one aspect, the invention relates to a method for generating a haptic penalty force, including in one embodiment, the steps of: defining a primary proxy position; defining a secondary proxy position; defining a HIP position; generating a first force in response to the primary proxy position and the HIP position and generating a second force in response to the secondary proxy position and the HIP position.

Description

RELATED APPLICATIONS [0001] This application is a continuation-in-part of U.S. patent application Ser. No. 11 / 357,197, filed Feb. 21, 2006, published Jun. 29, 2006; the Ser. No. 11 / 357,197 application is a continuation-in-part of U.S. patent application Ser. No. 10 / 384,072, filed Mar. 6, 2003, published Feb. 5, 2004; a continuation-in-part of U.S. patent application Ser. No. 10 / 384,077, filed Mar. 6, 2003, published Feb. 19, 2004; and a continuation-in-part of U.S. patent application Ser. No. 10 / 384,194, filed Mar. 6, 2003, published Feb. 19, 2004, each of which claims priority from U.S. Provisional Patent Application No. 60 / 362,368, filed Mar. 6, 2002. The Ser. No. 11 / 357,197 application is also a continuation-in-part of U.S. patent application Ser. No. 10 / 621,119, filed Jul. 16, 2003, published Jun. 3, 2004, which is a continuation-in-part of U.S. patent application Ser. No. 10 / 384,078, filed Mar. 6, 2003, published Feb. 19, 2004, which claims priority from U.S. Provisional Patent...

AI Technical Summary

Benefits of technology

[0013] In yet another aspect, the invention relates to a method for increasing haptic stability in a system having a plurality of transmission mechanisms and a plurality of joints. In one embodiment, the method includes the steps of: calculating a spring force in response to the distance between a proxy position and a HIP position; calculating a joint space spring torque in response to the spring force; calculating a joint space damping torque in response to a joint velocity; and adding the joint space damping torque and the joint space spring torque.

Problems solved by technology

For example, as the surgeon moves a surgical instrument in real space, constraints may be imposed on the surgeon through the haptic interface that limit his ability to manipulate the surgical instrument.

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